%-- Focal length:
fc = [ 613.674005452059650 ; 612.462326852135110 ];

%-- Principal point:
cc = [ 243.337569235404830 ; 333.136494150830340 ];

%-- Skew coefficient:
alpha_c = 0.000000000000000;




K = [ fc(1) alpha_c*fc(1) cc(1); 0 fc(2) cc(2); 0 0 1];